@inproceedings{c357e65d99864be0a2bd29d03966c833,
title = "Predictive Path-following Control for Tilt-quadrotor UAV based on Fully-actuated System Approaches",
abstract = "This study focuses on predictive path-following control (PPFC) for a tilt-quadrotor UAV based on fully-actuated system (FAS) approaches. Rooted in the fundamental principle of tilt-quadrotor UAV model mechanics, the dynamic model of the tilt-quadrotor UAV is derived into a FAS model with multiple degree of freedoms. Concurrently, the PPFC-FAS control scheme is proposed for tilt-quadrotor UAV path-following, the path-following problem is transformed into a trajectory tracking problem with the tilt-quadrotor FAS model and parameterized path. If the cost function and the penalty function in the predictive performance index satisfies the certain conditions, the convergence of path-following errors is guaranteed. Finally, the simulation results verify the effectiveness and efficiency of the proposed PPFC-FAS control scheme.",
keywords = "Predictive control, fully actuated system approaches, path-following, tilt-quadrotor UAV",
author = "Lixue Xu and Xiubo Wang and Ping He and Yan Wang",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024 ; Conference date: 10-05-2024 Through 12-05-2024",
year = "2024",
doi = "10.1109/FASTA61401.2024.10595151",
language = "英语",
series = "Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1382--1387",
booktitle = "Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024",
address = "美国",
}